Graphical Programming, Simulation and Control System for Dual-Arm Mobile Robot

Abstract

A graphical programming, simulation and control system is described which can provide Dual-Arm robot a task planning, 3D simulation and control environment. User can program a Dual-arm robot through graphical programming, preview and check motion simulation in 3D simulation, and then download optimal program to actual robot controller to ensure the desired results. The system uses Java3D and VRML for 3D simulation, and runs on RT-Linux platform to ensure Real-Time in simulation and control. Multi-robot mechanism is realized to support pipelining work or cooperation between robots. This system now supports Dual-Arm Mobile robot of YASWAKA Electric Corporation.